Article handling device

ABSTRACT

An article handling device is provided. In one embodiment, a system for article handling is provided. The system has first and second article handling devices that each have one or more gripping assemblies arranged around their periphery. The gripping assemblies are selectably movable between an open position and a closed position based on the relative position of the first and second article handling devices.

TECHNICAL FIELD

The present invention relates to article handling devices for anautomated article handling line.

BACKGROUND

Various types of article handling devices are used for handling articleson automated handling lines, such a rotary conveyor devices, linearconveyor devices, and so forth. On an automated handling line thatinvolves filling bottles with liquids, for example, rotary devices mayinclude fillers, cappers, labelers, and star wheel conveyors. Often suchrotary devices will be provided with their own drive motor, such as aservo motor, for rotating the rotary device.

It may be necessary for automated handling lines to process articlessuch as containers of varying shapes and sizes. This has, however,created challenges for article handling devices. For example, in thecase of many current star wheels, each star wheel can only handlecontainers of a specific shape and size, so this requires changing thestar wheel plates or disks each time a different container is introducedonto the handling line. This is undesirable as it is both time consumingand necessitates having to keep a stock of different-sized star wheelplates.

Additionally, star wheels and other rotary-type conveyors often utilizea guide rail assembly that is radially spaced from the outer periphery.These guide rail assemblies serve to maintain the radial position of thecontainer when it is engaged with the star wheel by a frictionalengagement between the container and the guide rail assembly. Thisfrictional engagement may be undesirable, as the container may bescuffed as it slides along the rail assembly, or labeling/printing onthe outside of the container may be rubbed, abraded, or otherwisedamaged.

Thus, it would be advantageous to provide for an improved articlehandling device for automated article handling. In particular, it isdesirable to provide an article handling device that can readily handlearticles having many different sizes and configurations and is lessexpensive to manufacture and/or operate than star wheels with multiplechange parts. Additionally, it is desirable to provide for articlehandling devices that maintain the radial position of articles relativeto the article handling device without excessive scuffing or rubbing ofthe outer surface of the articles.

SUMMARY

The present disclosure provides, in one embodiment, an article handlingdevice. In one embodiment, the article handling device comprises atranslating member that is translatable along a path. The articlehandling device and translating member may move (and, thus, move thearticles) in a linear path, a curvilinear path; or in a path thatcomprises both linear portions and curvilinear portions. Non-limitingexamples of paths in which the article handling device and translatingmember may move include: arcuate paths, circular paths, ellipticalpaths, linear paths, race track configured paths, and other non-closedand closed loop paths. The translating member may have a periphery. Thetranslating member may have at least one gripping assembly joined to thetranslating member. The at least one gripping assembly may comprise afirst arm and a second arm which are selectably movable between an openposition and a closed position.

In another embodiment, a system for article handling may be provided.The system may comprise a first article handling device having at leastone gripping assembly arranged along or otherwise adjacent to itsperiphery or some other portion of the article handling device. In somecases, the first article handling device may have more than one grippingassembly arranged around its periphery or other portion thereof. Thearticle handling device(s) in the systems described herein may movearticles along any of the types of paths described above. When there ismore than one article handling device, they may move articles along thepaths having the same configuration (e.g., arcuate, circular, etc.), orpaths having different configurations (e.g., one article handling devicemay move articles in a circular path, and another may move articles in arace-track configured path, or there may be any other combination ofpaths). In some embodiments, the first article handling device may be arotary device that is rotatable about a first axis and is capable ofconveying articles gripped by at least one gripping assembly along afirst arcuate path. The system may also comprise a second articlehandling device having at least one gripping assembly arranged along orotherwise adjacent to its periphery. The second article handling devicemay be a rotary device that is rotatable about a second axis and beingcapable of conveying articles gripped by at least one gripping assemblyalong a second arcuate path. Each of the gripping assemblies maycomprise a first arm and a second arm, wherein each of the grippingassemblies are selectably movable between an open position and a closedposition.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned and other features and advantages of the presentdisclosure, and the manner of attaining them, will become more apparentand the disclosure itself will be better understood by reference to thefollowing description of nonlimiting embodiments of the disclosure takenin conjunction with the accompanying drawings, wherein:

FIG. 1 depicts a system for article handling comprising a first articlehandling device and a second article handling device;

FIG. 2 shows one non-limiting example of a gripping assembly;

FIG. 3 shows another non-limiting example of a gripping assembly;

FIG. 4 shows another non-limiting example of a gripping assembly;

FIG. 5 is a top view of a system for article handling comprising a firstarticle handling device and a second article handling device;

FIG. 6 schematically depicts one example of a technique for movinggripping assemblies between an open position and a closed position;

FIG. 7 schematically depicts another example of a technique for movinggripping assemblies between an open position and a closed position;

FIG. 8 schematically depicts another example of a technique for movinggripping assemblies between an open position and a closed position;

FIG. 9 illustrates a perspective view of a system for article handinghaving a first article handling device and a second article handlingdevice each having gripping assemblies;

FIG. 10 illustrates the first article handling device and the secondarticle handling device shown in FIG. 9 handling articles; and

FIG. 11 depicts an example adjustable arm of the gripping assemblies ofthe second article handling device shown in FIG. 9.

Unless otherwise defined, all technical and scientific terms used hereinhave the same meaning as commonly understood by one of ordinary skill inthe art to which this invention belongs. In case of conflict, thepresent specification, including definitions, will control. Althoughmethods and materials similar or equivalent to those described hereincan be used in the practice or testing of the present invention,suitable methods and materials are described below. In addition, thematerials, methods, and examples are illustrative only and not intendedto be limiting.

Other features and advantages of the invention will be apparent from thefollowing detailed description, and from the claims.

DETAILED DESCRIPTION

The present disclosure provides, in one embodiment, an article handlingdevice. In one embodiment, the article handling device comprises atranslating member that is translatable along a path. The path may, ormay not, be located on a surface on which one or more articles areconveyed. If more than one article is conveyed, they may be conveyed insuccession along the path. The article handling devices of interestherein may be further described as excluding certain types of devices,such as independently actuatable automatic arms, pneumatic arms, androbots.

The article handling device and translating member may move (and, thus,move the articles) in a linear path, a curvilinear path; or in a paththat comprises both linear portions and curvilinear portions.Non-limiting examples of paths in which the article handling device andtranslating member may move include: arcuate paths, circular paths,elliptical paths, linear paths, race track configured paths, and othernon-closed and closed loop paths. The translating member may have aperiphery. The translating member may have at least one grippingassembly joined to the translating member. The at least one grippingassembly may comprise a first arm and a second arm which are selectablymovable between an open position and a closed position.

In another embodiment, the present disclosure provides a system forhandling articles on an automated article handling line. The system cancomprise one or more article handling devices that are used for handlingarticles on automated handling lines. On an automated handling line thatinvolves filling bottles with liquids, for example, such articlehandling devices may include, but are not limited to: fillers, cappers,labelers, and rotary-type wheel conveyors. For purposes of illustration,some of the article handling devices are shown and described in thecontext of rotary-type wheel conveyors for passing a stream of articlesfrom a first rotary device to a second rotary device. However, therotary devices can be used to pass streams of articles to other types ofequipment and processing devices, such as linear conveyors, conveyorscrews, and so forth. Thus, it is understood that the present inventionis not limited to use with a rotary-type wheel conveyor, and can be used(as applicable) with any suitable rotary, linear, indexing, or otherarticle handling device.

The article handling devices described herein can be used to conveynumerous different types of three dimensional articles along anautomated article handling line. Such articles include, but are notlimited to: bottles, cans, containers, razors, razor blade heads andhandles, tampon tubes, deodorant stick containers, bags, cartons, andpucks and carriers which convey other articles within. The articlehandling devices can easily transport conventionally-shaped articles(e.g., cylindrical, and/or symmetrical articles), as well as beingparticularly suited to transport and control articles having shapes thatare challenging to transport by other types of rotary-type wheelconveyors. The article handling devices can, for example, be used totransport: bottles with non-flat or rounded bottoms that would beunstable on a horizontal surface; bottles with small bases that willeasily tip; bottles with angled and/or off-center necks; asymmetricalbottles; bottles of non-constant cross-section, and so forth.

Various nonlimiting embodiments of the present disclosure will now bedescribed to provide an overall understanding of the principles of thefunction, design and operation of the article handling devices. One ormore examples of these nonlimiting embodiments are illustrated in theaccompanying drawings. Those of ordinary skill in the art willunderstand that the methods described herein and illustrated in theaccompanying drawings are nonlimiting example embodiments and that thescope of the various nonlimiting embodiments of the present disclosureare defined solely by the claims. The features illustrated or describedin connection with one nonlimiting embodiment may be combined with thefeatures of other nonlimiting embodiments. Such modifications andvariations are intended to be included within the scope of the presentdisclosure.

FIG. 1 depicts a system for article handling 100 comprising a firstarticle handling device 102 and a second article handling device 104.The system for article handling 100 conveys three dimensional articles(not shown) along an article path 130. The article path 130 includes afirst arcuate path 124 proximate to the first article handling device102 and a second arcuate path 126 proximate to the second articlehandling device 104. The first arcuate path 124 and the second arcuatepath 126 merge at a hand off zone 150, which is located between thefirst article handling device 102 and the second article handling device104. The first article handling device 102 and the second articlehandling device 104 are each rotatable in a plane of rotation about anaxis, shown as axis A and axis B, respectively. Articles handled by thesystem 100 are typically conveyed with their bases in a given plane. Theaxis A and the axis B are perpendicular to the plane of articleconveyance and the plane of rotation. While the first article handlingdevice 102 and the second article handling device 104 are schematicallydepicted as being similarly sized, this disclosure is not so limited. Asis to be appreciated, in some configurations the first article handlingdevice 102 may have an outer diameter that is either larger or smallerthan the outer diameter of the second article handling device 104, asmay be required by the configuration of the automated article handlingline. Further, while the first article handling device 102 and thesecond article handling device 104 are shown as rotary-style articlehandling devices that circularly rotate and thus transport articles in acircular path, other article handling devices in accordance with thepresent disclosure may have different configurations that transportarticles in other paths.

Each of the first article handling device 102 and the second articlehandling device 104 has at least one gripping assembly, shown asgripping assembly 106A and gripping assembly 106B, respectively. Atleast a portion of the gripping assembly 106A generally extendsoutwardly from a periphery 120 of the first article handling device 102and at least a portion of the gripping assembly 106B generally extendsoutwardly from a periphery 122 of the second article handling device104. While the gripping assemblies 106A, 106B are schematically depictedas being joined or coupled to the periphery 120, this disclosure is notso limited. In some configurations, for instance, the gripping assembly106A and gripping assembly 106B may be coupled to the article handlingdevice inboard of the periphery 120. Further, the gripping assemblies106A, 106B may be coupled to any suitable element of the respectivearticle handling device, such as a spoke, paddle, arm, or axle, forinstance. The gripping assemblies 106A, 106B can each comprise aplurality of arms, which may be individually or collectively actuated,folded, inflated, deflated, pivoted, translated or otherwise movedrelative to one another during article handling. Further, while thegripping assembly 106A is depicted as having a first arm 108A, a secondarm 110A, and a third arm 112A and the gripping assembly 106B isdepicted as having a first arm 108B, a second arm 110B, and a third arm112B, this disclosure is not so limited. Instead, the grippingassemblies 106A, 106B can include any suitable configuration of armsthat is capable of selectively gripping an article to transport thearticle along the article path 130. Each gripping assembly may,therefore, comprise one, two, three, four, or more arms. The number ofarms in each gripping assembly may be the same, or different.

The gripping assemblies 106A, 106B are selectably movable between anopen position and a closed position. In FIG. 1, the gripping assembly106A is depicted in a closed position and the gripping assembly 106B isdepicted in an open position. As described in more detail below, themoving of the gripping assemblies 106A, 106B between the open and closedpositions can be registered to the radial position of the respectivefirst and second article handling devices 102, 104. The grippingassembly 106A is in the closed position as it grips an article andtransports the article along the first arcuate path 124 towards the handoff zone 150. Concurrently, the second article handling device 104rotates in an opposite direction, and the gripping assembly 106B is inthe open position as it approaches the hand off zone 150 in preparationfor receiving the article from the gripping assembly 106A. During ahandoff event, the gripping assembly 106B is moved to the closedposition such that it begins to grip the article that was conveyed bythe gripping assembly 106A. The gripping assembly 106A is moved to theopen position thereby releasing its grip on the article and allowingpossession to transfer to the gripping assembly 106B. It is noted thatthe moving of the gripping assembly 106A from the closed position to theopen position can occur before or after the moving of the grippingassembly 106B from the open position to the closed position. Forinstance, in some configurations, the gripping assembly 106A may move tothe open position after the gripping assembly 106B has been moved to theclosed position. In some configurations, the gripping assembly 106A mayfirst partially open, such as through the articulation of less than allof the arms 108A, 110A, 112A, or partially articulate all of the arms108A, 110A, 112A towards an open position. Then, once the grippingassembly 106B has been moved to the closed position, the grippingassembly 106A can complete the opening process. As is to be appreciatedupon consideration of the current disclosure, the particular cadence ofopening and closing the gripping assemblies 106A, 106B can vary based ona number of factors, such as line speed, article handling device size,article path of travel, article size, gripping assembly configuration,and so forth.

The gripping assemblies 106A, 106B may have complementarily arrangedcomponents or features, such that during the handoff event, portions ofthe gripping assembly 106A are interleaved or zippered with portions ofthe gripping assembly 106B within the handoff zone 150. In theillustrated embodiment, the second arm 110A of the leading side of thegripping assembly 106A is positioned such that as the grippingassemblies 106A, 106B simultaneously pass through the hand off zone 150,the second arm 110A is received into the vertical space defined betweenthe first arm 108B and the third arm 112B of the second grippingassembly 106B. Similarly, the trailing side of the gripping assembly106B has the second arm 110B that is positioned such that as thegripping assemblies 106A, 106B simultaneously pass through the hand offzone 150, the second arm 110B is received into the vertical spacedefined between the first arm 108A and the third arm 112A of the firstgripping assembly 106A.

While FIG. 1 depicts gripping assemblies 106A, 106B having arms with apivoting distal portion, this disclosure is not so limited. Referringnow to FIGS. 2-4, additional non-limiting examples of grippingassemblies having various configurations are depicted. Each grippingassembly 206, 306, 406 is depicted in a closed position and an openposition. In some configurations, the inner surface of the arms of thegripping assemblies 206, 306, 406, or the entire arm itself may be asofter, flexible, and/or compliant material that can conform to thearticle being gripped and offer high friction to secure the articleduring transport.

Referring first to the gripping assembly 206 of FIG. 2, a first arm 208and a second arm 210 are shown extending from a periphery 220 of anarticle handling device. The first and second arms 208, 210 may have anysuitable profile, such as straight, curved, curvilinear, and so forth.The first arm 208 and the second arm 210 are pivotable relative to eachother via first and second pivot points 232, 234. Referring next to thegripping assembly 306 of FIG. 3, a first arm 308 and a second arm 310are shown as segmented arms that extend from a periphery 320 of anarticle handling device. Each segmented arm 308, 310 has segment pivotpoints 336 to connect adjacent segments and allow articulation. Thefirst arm 308 and the second arm 310 can pivot relative to each othervia first and second pivot points 332, 334 and via the segment pivotpoints 336. Referring next to the gripping assembly 406 of FIG. 4, afirst arm 408 and a second arm 410 are shown as sealed bladders thatextend from a periphery 420 of an article handling device. Each of thefirst and second arms 408, 410 articulate in a first direction (i.e.,toward the closed position) in response to internal pressurization andarticulate in a second direction (i.e., toward the open position) inresponse to internal depressurization. Nonlimiting examples of armssuitable for use in the gripping assembly of FIG. 4 are described inU.S. Patent Application Publication No. 2016/0075036 A1, Lessing, et al.and PCT WO 2015/191585 A1 (Soft Robotics, Inc.).

While FIGS. 2-4 schematically depict the gripping assemblies 206, 306,and 406 as having opposing arms of similar construction, in someconfigurations the gripping assembly can include a variety of differentarms, materials, size, articulation, or other features to assist withthe gripping functionality. For instance, the arm or arms on one side ofthe gripping assembly may be longer or shorter than the arm or arms onthe other side of the gripping assembly. Additionally or alternatively,one arm can have a first configuration or structure and another arm orportion of the gripping assembly can have a different configuration orstructure. Further yet, while the gripping assemblies 206, 306, and 406depict arms on both sides that can move, in some configurations, an armor arms on only one side of the gripping assembly can move.

FIG. 5 is a top view of a system for article handling 500 comprising afirst article handling device 502 and a second article handling device504. The system for article handling 500 conveys three dimensionalarticles (not shown) along an article path 530. The article path 530includes a first arcuate path 524 proximate to the first articlehandling device 502 and a second arcuate path 526 proximate to thesecond article handling device 504. The first arcuate path 524 and thesecond arcuate path 526 merge at a hand off zone 550, which is locatedbetween the first article handling device 502 and the second articlehandling device 504. The first article handling device 502 and thesecond article handling device 504 are each rotatable in a plane ofrotation about an axis, shown as axis A and axis B, respectively. Whilethe first article handling device 502 and the second article handlingdevice 504 are schematically depicted as being similarly sized and beingrotary-style article handling devices, this disclosure is not solimited.

Each of the first article handling device 502 and the second articlehandling device 504 has a plurality of gripping assemblies arrangedaround its periphery 520, 522, respectively. While FIG. 5 depicts threegripping assemblies 506A arranged around the first article handlingdevice 502 and three gripping assemblies 506B arranged around the secondarticle handling device 504, other systems can use any number ofgripping assemblies (one, two, three, or more) in any alternativearrangements. Each of the gripping assemblies 506A is depicted having afirst arm 508A and second arm 510A. Similarly, each of the grippingassemblies 506B is depicted as having a first arm 508B and second arm510B. FIG. 5 also depicts that the gripping assemblies 506A, 506B areperiodically moved between an open position and a closed position as theassociated article handling device rotates about its axis of rotation.

Referring to the first article handling device 502 rotating in thecounterclockwise direction, as the gripping assembly 506A departs thehandoff zone 550, it is in the open position as the article that it hadbeen gripping has been handed off to the second article handling device504. As the gripping assembly 506A approaches the article path 530, itcan begin to close when it reaches an actuation point 552. The positionof actuation point 552 relative to the rotation of the first articlehandling device 502 can be coordinated with articles approaching on thearticle path 530 such that the gripping assembly 506A is timed to closeon the article. With the article gripped by the gripping assembly 506A,the article is transported along the first arcuate path 524 as the firstarticle handling device 502 continues to rotate. When the grippingassembly 506A reaches the next actuation point 554, it will begin toopen. This actuation point 554 is proximate to the hand off zone 550, asit is coordinated with a receiving gripping assembly 506B on the secondarticle handling device 504. While in the handoff zone 550, the grippingassembly 506A can interleave with the gripping assembly 506B that isreceiving the article during the handoff. The gripping assembly 506A isthen moved to a fully opened position as it leaves the hand off zone550.

Referring now to the second article handling device 504 rotating in theclockwise direction, as the gripping assembly 506B departs the handoffzone 550, it is in the closed position as it has received an article inthe handoff zone 550. With the article gripped by the gripping assembly506B, the article is transported along the second arcuate path 526 asthe second article handling device 504 rotates about its axis ofrotation. As the gripping assembly 506B approaches the end of the secondarcuate path 526, it can begin to open at an actuation point 562. Theactuation point 562 can be coordinated with a downstream processingapparatus or process, such as a conveyor, a conveyor screw, anotherrotary device, or other equipment. The gripping assembly 506B is thenmoved to a fully open position to release the article. As the grippingassembly 506B continues to rotate, it will again approach the hand offzone 550. When it reaches the next actuation point 564, it will begin toclose to grip the articles being conveyed by the first article handlingdevice 502. The gripping assembly 506B is moved to a fully closedposition as it leaves the hand off zone 550.

The gripping assembly 506A and the gripping assembly 506B can beconfigured to interleave within the handoff zone 550. Further, therelative radial distance between the actuation point 554 of the firstarticle handling device 502 and the actuation point 562 of the secondarticle handling device 504 can vary. In the illustrated configuration,the actuation point 564 occurs prior to the actuation point 554.Therefore, the receiving gripping assembly 506B is configured to beginto grip the article prior to the gripping assembly 506A releasing thearticle. In some configurations, the radial distance between theactuation points 554 and 564 can be adjustable. For instance, certainline speeds, articles, or line processes may require the radial distancebetween the actuation points 554 and 564 to be shortened or lengthenedto improve performance.

FIGS. 6-8 schematically depict example actuation techniques for movinggripping assemblies between an open position and a closed position.While FIGS. 6-8 depict gripping assemblies similar to the grippingassembly 406 of FIG. 4, it is to be appreciated that this grippingassembly is shown for illustration purposes only. Referring first toFIG. 6, a gripping assembly actuator 640 is shown that is configured tomove a gripping assembly 606 between an open position and a closedposition. The gripping assembly actuator 640 is in communication with avacuum source 648 and a pressure source 650. The vacuum source 648 andthe pressure source 650 can be in communication with the grippingassembly 606 via a manifold 652. The vacuum source 648 and the pressuresource 650 can be positioned onboard an associated article handlingdevice or positioned remote from the associated article handling device,such as at a centralized air/vacuum source. The gripping assemblyactuator 640 also comprises a ball valve 642 that is configured toengage with a surface 644. In some configurations, the ball valve 642 ispositioned proximate to a bottom surface of the gripping assembly 606 oran associated article handling device. For a rotary-style articlehandling device, the ball valve 642 can rotate along a travel path aboutthe axis of the article handling device, for example. The position ofthe ball valve 642 can control the whether the vacuum source 648 isapplied to the gripping assembly 606 or the pressure source 650 isapplied to the gripping assembly 606. As illustrated, a cam surface 646can be positioned within the travel path of the ball valve 642. As theball valve 642 engages with the cam surface 646, the pressure source 650is applied to the gripping assembly 606 which then transitions to theclosed position. As is to be appreciated, the slope of the ramp of thecam surface 646 can be used to change the speed at which the grippingassembly 606 actuates. A steep ramp can cause a relatively quick closingaction, whereas a gradual ramp can cause a relatively slower closingaction. As shown in FIG. 6, the gripping assembly 606 is caused to openwhen the ball valve 642 passes the cam surface 646 and the vacuum source648 is again applied to the gripping assembly 606. While the ball valve642 is shown to actuate the entire gripping assembly 606, in someconfigurations a separate ball valve can be used to individually controlone or more arms of a gripping assembly. Accordingly, certain arms of agripping assembly can be configured to move at different times and/ordifferent speeds than other arms of the gripping assembly.

FIG. 7 schematically depicts another technique for actuating a grippingassembly. A gripping assembly actuator 740 is shown that is configuredto move a gripping assembly 706 between an open position and a closedposition. The gripping assembly actuator 740 includes a hydraulic piston748 that is in fluid communication with the gripping assembly 706 via amanifold 752. A ball valve 742 is configured to engage with a surface744. The position of the ball valve 742 controls the piston, such thatactuation of the ball valve 742 translates the hydraulic piston 748. Thegripping assembly 706 is hydraulically controlled such that translationof the hydraulic piston 748 opens and closes the gripping assembly 706.Similar to FIG. 6, a cam surface 746 can be utilized to actuate the ballvalve 742 at the desired radial positions. As the ball valve 742 engageswith the cam surface 746, the hydraulic piston 748 is translated and, inturn, the gripping assembly 706 transitions to the closed position. Thegripping assembly 706 is then caused to open when the ball valve 742passes the cam surface 746 and the hydraulic piston 748 returns tooriginal position.

FIG. 8 schematically depicts another technique for actuating a grippingassembly. In this configuration, the gripping assembly actuator 840includes an electronic valve control 854. The electronic valve control854 is in communication with a vacuum source 848 and a pressure source850 and can selectively apply one or the other to a gripping assembly806 through a manifold 852. The timing of the application of either thevacuum source 848 or the pressure source 850 is based on the position ofthe associated article handling device. As shown, an encoded position856 is provided to the electronic valve control 854 as the articlehandling device rotates or otherwise translates. Based on the position,the gripping assembly actuator 840 can open or close the grippingassembly 806. Electronic valve control 854 can provide for, forinstance, variable timing control of the gripping assembly 806.

FIG. 9 illustrates a perspective view of a system for article handing900 having a first article handling device 902 and a second articlehandling device 904. The article handling device 902 is shown havingeight gripping assemblies and the article handling device 904 is shownhaving ten gripping assemblies. For the purposes of illustration, botharticle handling devices 902, 904 are depicted as rotary-style articlehandling devices. FIG. 10 illustrates the system for article handing 900of FIG. 9 handling articles 932 of an article stream traveling in thedirection indicated by arrow 934. The first article handling device 902includes gripping assemblies 906A. The gripping assemblies 906A includea first arm 908A, a second arm 910A, and a third arm 912A. The secondarticle handling device 904 includes gripping assemblies 906B. Thegripping assemblies 906B include a first arm 908B, a second arm 910B,and a third arm 912B. The first and second article handling devices 902,904 are each stacks of rotating platters. As shown in FIG. 9, the secondarticle handling device 904 has a top platter 914, a middle platter 916,and a bottom platter 918. Each one of the platters carries one of thearms of the gripping assemblies 906B. More particularly, the top platter914 carries the first arm 908B, the middle platter carries the secondarm 910B, and the bottom platter 918 carries the third arm 912B. Assuch, increasing the relative spacing between the top platter 914, themiddle platter 916, and the bottom platter 918 can result in increasingthe height of the gripping assembly 906B. While circular platters aredepicted in FIGS. 9-10, any suitable translated member can be utilized,such as, rotatable members, spokes, arms, and so forth.

Referring to FIG. 10, the first article handling device 902 is shownrotating in the counterclockwise direction. As the gripping assemblies906A depart the handoff zone 950, they are in the open position as thearticle that they had been gripping has been handed off to the secondarticle handling device 904. As the gripping assemblies 906A approach anarticle path 930, the timing of the closing is coordinated so that eachof the gripping assemblies 906A closes on the article 932. With thearticle 932 gripped by the gripping assembly 906A, the article istransported along a first arcuate path 924 as the first article handlingdevice 902 continue to rotates. When the gripping assembly 906A reachesan actuation point, it will begin to open. This actuation point isproximate to the hand off zone 950 and is coordinated with a receivinggripping assembly 906B on the second article handling device 904. Thegripping assembly 906A is moved to a fully opened position as it leavesthe hand off zone 950.

As shown, the second article handling device 904 is rotating in theclockwise direction. As the gripping assemblies 906B depart the handoffzone 950, they are in the closed position as they have received thearticle 932 in the handoff zone 950. With the article 932 gripped by thegripping assembly 906B, the article 932 is transported along the secondarcuate path as the second article handling device 904 rotates about itaxis of rotation. As the gripping assembly 906B approaches the end ofthe second arcuate path, it opens so the article 932 can be released tothe next process. The gripping assembly 906B is then rotated towards thehand off zone 950 while in the open position. Once in the handoff zone950, the gripping assembly 906B will begin to close to grip the article932 being conveyed by the first article handling device 902. Thegripping assembly 906B is moved to a fully closed position as it leavesthe hand off zone 950.

In order to provide flexibility in article processing, in someconfigurations the gripping assemblies are adjustable so they canaccommodate various types of articles. FIG. 11 depicts an exampleadjustable arm of the gripping assemblies 906B of the second articlehandling device 904. The gripping assembly 906B is shown to have agripping width shown as D1 and an open width of D2. Depending on thesize of the article being processed, D1 and D2 may be too large or toosmall. In the illustrated arrangements, the second arm 910B istranslatable in a first lateral direction 988 and a second lateraldirection 990. Such translation can be facilitated by the middle platter916 rotating around the axis of rotation relative to the top platter 914and the bottom platter 918. After translation, the lateral distancebetween the second arm 910B and the other arms (i.e., the first arm 908Aand the third arm 912B) can increased or decreased. Alternatively, eachplatter can be adjusted independently to change the gripping pointsalong the vertical dimension of the article being conveyed by thearticle handling device. Further yet, adjustment of the platters can besynchronized between opposing arms so that the center-point of thearticle is generally maintained.

The term “joined to” encompasses configurations in which an element isdirectly secured to another element by affixing the element directly tothe other element; configurations in which the element is indirectlysecured to the other element by affixing the element to intermediatemember(s) which in turn are affixed to the other element; andconfigurations in which one element is integral with another element,i.e., one element is essentially part of the other element.

The dimensions and/or values disclosed herein are not to be understoodas being strictly limited to the exact numerical dimensions and/orvalues recited. Instead, unless otherwise specified, each such dimensionand/or value is intended to mean both the recited dimension and/or valueand a functionally equivalent range surrounding that dimension and/orvalue. For example, a dimension disclosed as “40 mm” is intended to mean“about 40 mm”.

Every document cited herein, including any cross referenced or relatedpatent or application is hereby incorporated herein by reference in itsentirety unless expressly excluded or otherwise limited. The citation ofany document is not an admission that it is prior art with respect toany invention disclosed or claimed herein or that it alone, or in anycombination with any other reference or references, teaches, suggests ordiscloses any such invention. Further, to the extent that any meaning ordefinition of a term in this document conflicts with any meaning ordefinition of the same term in a document incorporated by reference, themeaning or definition assigned to that term in this document shallgovern.

While particular embodiments of the present invention have beenillustrated and described, it would be obvious to those skilled in theart that various other changes and modifications can be made withoutdeparting from the spirit and scope of the invention. It is thereforeintended to cover in the appended claims all such changes andmodifications that are within the scope of this invention.

What is claimed is:
 1. A system for article handling, the systemcomprising: a first article handling device having gripping assembliesarranged around its periphery, the first article handling device beingcapable of conveying articles gripped by the gripping assemblies along afirst path; and a second article handling device having grippingassemblies arranged around its periphery, the second article handlingdevice being capable of conveying articles gripped by the grippingassemblies along a second path; and wherein each of the grippingassemblies comprising a first arm and a second arm, wherein each of thegripping assemblies are selectably movable between an open position anda closed position.
 2. The system for article handling of claim 1,wherein the gripping assemblies each comprise a third arm, the third armpositioned generally parallel to the second arm.
 3. The system forarticle handling of claim 1, wherein the gripping assemblies of thefirst article handling device extend into the first path and thegripping assemblies of the second article handling device extend intothe second path, wherein the first path and the second path merge at ahand off zone defined between the first article handling device and thesecond article handling device.
 4. The system for article handling ofclaim 3, wherein the gripping assemblies of the first article handlingdevice interleave the gripping assemblies of the second article handlingdevice within the hand off zone during rotation of the first and secondarticle handling devices.
 5. The system for article handling of claim 4,wherein the gripping assemblies of the first article handling device arein the closed position during approach to the hand off zone and thegripping assemblies of the second article handling device are in theopen position during approach to the hand off zone.
 6. The system forarticle handling of claim 5, wherein the gripping assemblies of thefirst article handling device are in the open position during departurefrom the hand off zone and the gripping assemblies of the second articlehandling device are in the closed position during departure from thehand off zone.
 7. The system for article handling of claim 1, whereinthe gripping assemblies are pneumatically movable between the openposition and the closed position.
 8. The system for article handling ofclaim 1, wherein the gripping assemblies are hydraulically movablebetween the open position and the closed position.
 9. The system forarticle handling of claim 1, wherein the gripping assemblies aremechanically movable between the open position and the closed position.10. The system for article handling of claim 1, wherein the grippingassemblies are electrically movable between the open position and theclosed position.
 11. The system for article handling of claim 1, whereinat least one of the first and second arms of each of the grippingassemblies is any of a segmented arm, a pivoting arm, and an inflatableflexible arm.
 12. The system for article handling of claim 1, wherein atleast one of the first and second arms is laterally translatablerelative to the other of the first and second arms to alter a width ofthe gripping assembly.
 13. An article handling device comprising: atranslating member that is translatable along a path, the translatingmember having a periphery; and at least one gripping assembly joined tothe translating member, wherein at least a portion of the grippingassembly extends outward from the periphery of the translating member,and the at least one gripping assembly comprises a first arm and asecond arm which are selectably movable between an open position and aclosed position, and at least one of the first and second arms of thegripping assembly comprises an inflatable flexible arm.
 14. The articlehandling device of claim 13, wherein the translating member that istranslatable along a circular path.